{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Add fixed obstacles to a driving environment"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "using AutomotiveDrivingModels\n",
    "using AutoViz\n",
    "using AutomotivePOMDPs"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "cam = FitToContentCamera(0.)\n",
    "rng = MersenneTwister(1);"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Urban Environment (T intersection + crosswalks)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "params = UrbanParams(nlanes_main=1,\n",
    "                     crosswalk_pos =[VecSE2(6, 0., pi/2), VecSE2(-6, 0., pi/2), VecSE2(0., -5., 0.)],\n",
    "                     crosswalk_length =  [14.0, 14., 14.0],\n",
    "                     crosswalk_width = [4.0, 4.0, 3.1],\n",
    "                     stop_line = 22.0)\n",
    "env = UrbanEnv(params=params);"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The environment has no obstacles by default"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "Cairo.CairoSurface{UInt32}(Ptr{Void} @0x000000000631ee40, 1000.0, 600.0, #undef)"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "render(Scene(), env, cam=cam)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "initialize an obstacle distribution"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 70,
   "metadata": {},
   "outputs": [],
   "source": [
    "obs_dist = ObstacleDistribution(env, upper_obs_pres_prob=0., left_obs_pres_prob=1.0, right_obs_pres_prob=1.0);"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "sample obstacles from it and add them to the environment:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 80,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "Cairo.CairoSurface{UInt32}(Ptr{Void} @0x0000000005a93970, 1000.0, 600.0, #undef)"
      ]
     },
     "execution_count": 80,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "sample_obstacle!(env, obs_dist, rng)\n",
    "render(Scene(), env, cam=cam)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Julia 0.6.1",
   "language": "julia",
   "name": "julia-0.6"
  },
  "language_info": {
   "file_extension": ".jl",
   "mimetype": "application/julia",
   "name": "julia",
   "version": "0.6.1"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
